摘要
轮式直立机器人具有结构简单、可控性强、行进速度快、控制灵活、低成本等特点,广泛运用于需要按预定路径进行移动的机器人中。依据对轮式机器人建模得出直立状态下车轮加速度的控制算法,设计模糊PID自整定控制器的隶属度关系及模糊规则表,用Simulink仿真比较,表明模糊后的PID自整定算法明显优于常规的PID算法。将两种算法实际运用于机器人直立控制过程,测量直立状态下的z轴角加速度放大1 000倍后的输出曲线,计算出经过模糊化后的方差缩小了73.4%,极差缩小了67.5%,综合性能提高了3倍。结果表明,模糊自整定后的直立控制效果明显优于常规PID。
Erect wheeled robot which has simple structure, strong controllability, low cost, fast speed, flexible control and other characteris- tics, is widely used in mobile robot needing a predetermined path. According to wheeled robot modeling, the control algorithm of robot＇ s wheel acceleration in upright condition is obtained, and the membership relations of the fuzzy self-tuning PID controller and fuzzy rule table is designed. Comparison with Simulink simulation indicates that the fuzzy PID self-tuning algorithm is superior to the conventional PID algorithm. The two algorithms are used in the process of the robot vertical control, measuring the output curve ofz axis under condi- tion of vertical angular acceleration magnified 1 000 times, calculated that the variance shrinks by 73.4%, range shrinks by 67.5 %, and comprehensive performance improves three times after a blurring. It verifies that upright control effect is better than conventional PID after the fuzzy self-tuning.
出处
《计算机技术与发展》
2016年第9期171-174,共4页
Computer Technology and Development
基金
国家自然科学基金资助项目(11202107)
国家创新训练计划(SZDG2014013)
